This books gives comprehensive explanation for Yogi Vemana's verses in telugu language and explains the real Achala yoga of Vemana Yogi. This is an extraordinary work of Dr. Sridhar Rapelli (Sri Brahmananda Sridhara Swami) who is disciple of Sri Vivekananda Agolu Sangayakhya Rajayogi (1898-2006). Vemana was an Achala Yogi and he spread his Yoga through thousands of verses in 14th and 15th Centuries A.D. None has explored his real philosophy so far except Achala Yogis. So many people don't know what philosophy Vemana Yogi taught to the people. So this book is very useful to explore his Achala Yogic tenets and his flawless exposition of various philosophies of the world of his time.